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Ekf control: do not set hgt mode if already set

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If we are in a certain height mode and that we do a reset to the
same mode, there is no need to set the mode again.
This commit is contained in:
bresch 2020-03-09 14:55:50 +01:00 committed by Mathieu Bresciani
parent 13a7d53295
commit d09473da89
1 changed files with 0 additions and 9 deletions
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9
EKF/control.cpp
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@ -811,8 +811,6 @@ void Ekf::controlHeightSensorTimeouts()
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to GPS");
} else if (!_baro_hgt_faulty) {
setControlBaroHeight();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to baro");
}
@ -839,8 +837,6 @@ void Ekf::controlHeightSensorTimeouts()
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to baro");
} else if (!_gps_hgt_intermittent) {
setControlGPSHeight();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to GPS");
}
@ -848,8 +844,6 @@ void Ekf::controlHeightSensorTimeouts()
} else if (_control_status.flags.rng_hgt) {
if (_rng_hgt_valid) {
setControlRangeHeight();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("rng hgt timeout - reset to rng hgt");
@ -866,8 +860,6 @@ void Ekf::controlHeightSensorTimeouts()
const bool ev_data_available = isRecent(ev_init.time_us, 2 * EV_MAX_INTERVAL);
if (ev_data_available) {
setControlEVHeight();
request_height_reset = true;
ECL_WARN_TIMESTAMPED("ev hgt timeout - reset to ev hgt");
@ -884,7 +876,6 @@ void Ekf::controlHeightSensorTimeouts()
resetHeight();
// Reset the timout timer
_time_last_hgt_fuse = _time_last_imu;
}
}
}